JP2008252401A - Imaging system, imaging method, and imaging program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a photographed image of a photographed area, by synchronizing a plurality of imaging units without providing a signal line between the plurality of imaging units. <P>SOLUTION: This imaging system comprises the plurality of imaging units which obtain photographed images including a light source; a timing specifying unit which specifies a timing wherein light from the light source satisfies predetermined conditions, based on the image contents of the plurality of photographed images that the plurality of imaging units obtain successively; an imaging-timing determining unit which decides the imaging timings of the plurality of imaging units respectively, based on the timing specified by the timing-specifying unit; and an imaging control unit which makes the plurality of imaging units photograph images with imaging timings that the imaging-timing determining unit has determined. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an imaging system, an imaging method, and an imaging program. In particular, the present invention relates to an imaging system, an imaging method, and an imaging program that capture an image including a light source.

Patent Document 1 proposes an imaging apparatus that reduces flicker by detecting flicker when imaging a subject image and adjusting imaging conditions during imaging according to the detected flicker.
Japanese Patent Laid-Open No. 2004-112034

  However, in the conventional imaging system, when the imaging region is imaged in synchronization using a plurality of imaging units, a control device that controls any one of the plurality of imaging units or the plurality of imaging units is provided. It is necessary to synchronize between the plurality of imaging units by transmitting a synchronization signal to the other imaging units. In such a case, a communication line such as a communication cable is provided between the plurality of imaging units, and the wiring becomes complicated and the cost required for the wiring may increase as the number of imaging units increases.

  Therefore, an object of the present invention is to provide an imaging system, an imaging method, and an imaging program that can solve the above-described problems. This object is achieved by a combination of features described in the independent claims. The dependent claims define further advantageous specific examples of the present invention.

  In order to solve the above-described problem, in the first embodiment of the present invention, in the imaging system, a plurality of imaging units that capture an image including a light source and a plurality of images captured by each of the plurality of imaging units continuously. Based on the image content of the image, a timing specifying unit that specifies timing when light from the light source satisfies a predetermined condition, and an imaging timing of each of the plurality of imaging units based on the timing specified by the timing specifying unit And an imaging control unit that causes a plurality of imaging units to capture images at the imaging timing determined by the imaging timing determination unit.

  In addition, the timing specifying unit specifies the timing at which the amount of light from the light source satisfies a predetermined condition based on the image contents of the plurality of images continuously captured by each of the plurality of imaging units, and the imaging timing The determination unit may determine the imaging timing of each of the plurality of imaging units based on the timing specified by the timing specifying unit.

  Further, in the second mode of the present invention, there is provided an imaging method in which an imaging stage in which a plurality of imaging units capture an image including a light source, and a timing specifying unit, each of the plurality of imaging units is continuously provided. Based on the image contents of a plurality of captured images, a timing specifying stage for identifying timing when light from the light source satisfies a predetermined condition, and an imaging timing determination unit based on the timing specified in the timing specifying stage An imaging timing determination stage that determines the imaging timing of each of the plurality of imaging units, and an imaging control stage in which the imaging control unit causes the plurality of imaging units to capture images at the imaging timing determined in the imaging timing determination stage. .

  Further, in the third aspect of the present invention, there is provided an imaging program for an imaging apparatus, wherein the imaging apparatus sequentially images each of a plurality of imaging units that capture an image including a light source and a plurality of imaging units. Based on the image content of the plurality of images, a timing specifying unit that specifies timing when light from the light source satisfies a predetermined condition, and each imaging timing of the plurality of imaging units based on the timing specified by the timing specifying unit And an imaging control unit that causes a plurality of imaging units to capture images at the imaging timing determined by the imaging timing determination unit.

  The above summary of the invention does not enumerate all the necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.

  According to the present invention, it is possible to capture an image of an imaging region in synchronization with a plurality of imaging units without providing a signal line between the plurality of imaging units.

  Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the claimed invention, and all combinations of features described in the embodiments are included. It is not necessarily essential for the solution of the invention.

  FIG. 1 shows an overview of an imaging system 15 according to an embodiment of the present invention. The imaging system 15 stores and stores a plurality of imaging devices 10 having imaging units, for example, the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D, and the captured images captured by the plurality of imaging devices 10. And a server 20 that performs image processing on the captured image. Note that the imaging system 15 may include at least two imaging devices 10. The imaging system 15 according to the present embodiment aims to capture a captured image in an imaging region by synchronizing a plurality of imaging units without providing a signal line between the plurality of imaging units.

  First, the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D each capture the respective imaging ranges. Specifically, the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D each capture a captured image including the light source 30. In such a case, the same light source 30 is included in the captured images captured by the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D. The light source 30 is, for example, a fluorescent lamp that periodically blinks. The light source 30 is the same light source that exists for the plurality of imaging devices 10 and is not only a light source that directly emits light, but also when a mirror, a wall, glass, or the like reflects light, A pseudo light source 30 may be used as a wall and glass.

  The imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D each analyze a captured image including the light source 30 captured by each. Then, the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D each specify the timing when the light from the light source 30 satisfies a predetermined condition. The predetermined condition may be, for example, a timing at which the light source 30 emits a predetermined amount of light, a timing at which the light source 30 is turned off, a cycle in which the light source 30 repeats blinking, or the like.

  Then, each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D determines an imaging timing that is a timing at which the imaging unit 100 included in each imaging the imaging region. The imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D each capture a captured image in the imaging region at the determined imaging timing. For example, the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D each capture a captured image of the person 1 that is a subject included in the imaging region in synchronization.

  For example, when the light source 30 is a fluorescent lamp, each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D is in a state where the fluorescent lamp is lit, and the amount of light emitted by the fluorescent lamp is maximum. Specify the timing. That is, each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D preliminarily captures the captured image of the imaging region before specifying the imaging timing to specify the imaging timing, and the fluorescent lamp The timing at which the amount of light irradiated by is maximized is specified. Then, the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D each repeat the captured image of the imaging region, that is, the captured image of the person 1 in the imaging region at the timing when the amount of light emitted from the fluorescent lamp is maximized. Take an image.

  In the description of FIG. 1, each of the plurality of imaging devices 10 images the imaging region from different directions, but the imaging direction captured by the plurality of imaging devices 10 is not limited to the above example. For example, the imaging system 15 may further include an imaging device 10E that captures images in substantially the same direction as the imaging direction captured by the imaging device 10A. That is, the imaging device 10E is arranged by being translated by a predetermined distance in a predetermined direction from the position where the imaging device 10A is arranged. Then, the imaging device 10E captures captured images in substantially the same imaging region in synchronization with the imaging device 10A.

  Then, the imaging device 10A, the imaging device 10B, the imaging device 10C, the imaging device 10D, and the imaging device 10E each transmit the captured image to the server 20. The server 20 stores captured images captured by the imaging device 10A, the imaging device 10B, the imaging device 10C, the imaging device 10D, and the imaging device 10E. The server 20 generates a three-dimensional image of the person 1 in the imaging region from the captured images captured by the imaging device 10A and the imaging device 10E. That is, the captured image captured by the imaging device 10A and the captured image captured by the imaging device 10E are captured from different imaging directions. Therefore, the server 20 generates a stereoscopic image of the person 1 based on the captured image captured by the imaging device 10A and the parallax in the captured image captured by the imaging device 10E.

  FIG. 2 shows an example of the functional configuration of the imaging system 15 according to the present embodiment. The imaging system 15 includes an imaging device 10 and a server 20. In FIG. 2, for convenience of explanation, only one imaging device 10 is illustrated, but the imaging system 15 includes at least two imaging devices 10. Each of the plurality of imaging devices 10 includes an imaging unit 100, an image acquisition unit 110, a timing specifying unit 120, an imaging timing determination unit 130, an imaging control unit 140, and an output unit 150. In addition, the server 20 includes a data receiving unit 200, an image storage unit 210, and a stereoscopic image generation unit 220. Note that each of the first imaging unit and the second imaging unit described in the claims is an example of the imaging unit 100.

  The imaging units 100 included in the plurality of imaging devices 10 respectively capture captured images including the light source 30. Each of the imaging units 100 includes a lens and a light receiving unit including a plurality of light receiving elements. The imaging unit 100 causes the light receiving unit to receive light incident from the imaging region through the lens. The light receiving unit receives light at the plurality of light receiving elements and captures a captured image of the subject included in the imaging region. A CCD or a plurality of CMOS sensors is an example of a light receiving unit. Here, the captured image in the present embodiment means a moving image including a still image and / or a plurality of moving image constituent images. Here, the moving image constituent image may include any of various types of captured images constituting a frame image, a field image, and other moving images. The light receiving unit included in the imaging unit 100 supplies the image acquisition unit 110 with an analog electrical signal including charges generated by light received by a plurality of light receiving elements.

  The image acquisition units 110 included in the plurality of imaging devices 10 respectively read out analog electric signals from the plurality of light receiving elements included in the light receiving unit. And the image acquisition part 110 converts the read analog electric signal into a digital signal, and acquires the captured image of an imaging area as captured image data. Specifically, the image acquisition unit 110 performs processing for reducing noise generated in the light receiving unit on the analog electric signal read out from the light receiving unit, so that the analog electric signal indicating the captured image in the imaging range captured by the imaging unit 100 is displayed. Extract the signal. And the image acquisition part 110 correct | amends the level part of the extracted electrical signal to a predetermined level. Subsequently, the image acquisition unit 110 acquires captured image data by converting the corrected analog electrical signal into a digital signal. The image acquisition unit 110 supplies the acquired captured image data to the timing specifying unit 120 and the output unit 150.

  Note that the image acquisition unit 110 may execute conversion processing of an analog electrical signal into a digital signal after gamma conversion. Then, the image acquisition unit 110 may extract only the analog electrical signals of RGB colors from the analog electrical signal and convert them into digital signals. Further, when executing the data compression process to reduce the data amount of the digital signal, the image acquisition unit 110 may execute the white balance process to determine the white reference value in the captured image. Then, the image acquisition unit 110 generates an image of luminance components and color difference signals from the RGB signals. Subsequently, the image acquisition unit 110 extracts a portion where the signal change is larger than a predetermined reference value from the captured image, and executes sharpness processing. And the image acquisition part 110 may perform a data compression process with respect to the captured image after performing a sharpness process.

  The timing specifying unit 120 specifies the timing at which the light from the light source 30 satisfies a predetermined condition based on the image contents of a plurality of captured images continuously captured by the imaging unit 100. Specifically, the timing specifying unit 120 specifies the timing at which the amount of light from the light source 30 satisfies a predetermined condition based on the image contents of a plurality of captured images continuously captured by the imaging unit 100. . More specifically, the timing specifying unit 120 specifies the timing at which the amount of light from the light source 30 becomes a predetermined threshold based on the image contents of a plurality of captured images continuously captured by the imaging unit 100. To do.

  For example, the timing specifying unit 120 receives a plurality of captured images continuously captured by the imaging unit 100 from the image acquisition unit 110 in association with imaging times at which the plurality of captured images are captured. Next, the timing specifying unit 120 calculates the magnitude of the light amount of the light source 30 included in the plurality of captured images in the order of the imaging time. The timing specifying unit 120 may calculate the value of the luminance component of the light source 30 in the captured image as the magnitude of the light amount of the light source 30. And the timing specific | specification part 120 specifies the timing when the magnitude | size of light quantity becomes a predetermined threshold value.

  For example, when the light source 30 is a light source that periodically blinks, such as a fluorescent lamp, the timing specifying unit 120 may specify the lighting cycle or the extinguishing cycle. In addition, the timing specifying unit 120 specifies a period in which a state in which the light amount emitted from the light source 30 is greater than a predetermined threshold continues or a period in which a state in which the light amount emitted from the light source 30 is equal to or less than a predetermined threshold continues. Also good. The timing identification unit 120 supplies information indicating the identified timing to the imaging timing determination unit 130.

  Note that the timing specifying unit 120 specifies the timing at which the light from the light source 30 satisfies a predetermined condition after specifying the position of the light source 30 based on at least one captured image captured by the imaging unit 100. For example, the timing specifying unit 120 receives a plurality of captured images captured by the image acquisition unit 110 from the image acquisition unit 110 in association with the time when each of the plurality of captured images is captured. Then, the timing specifying unit 120 includes a first captured image included in the plurality of captured images and another captured image different from the first captured image (second captured image continuously captured from the first captured image). The luminance periodically changes in the imaging region from the difference from the image or the n-th captured image captured at a time after a predetermined time has elapsed from the time when the first captured image was captured. Detecting the area that is

  That is, the timing specifying unit 120 detects an area where the luminance is changing in the imaging area from the difference image of a plurality of captured images in which the captured times are continuous. And the timing specific | specification part 120 detects the brightness | luminance in the said detected area | region about each of a some captured image. The timing specifying unit 120 analyzes each of the detected plurality of brightness levels in the order of the imaging time, and determines whether or not the brightness of the detected area changes periodically. When the timing specifying unit 120 determines that the luminance of the detected region is periodically changed, the timing specifying unit 120 specifies the detected region as a candidate region that is a candidate for the position of the light source in the imaging region. Subsequently, the timing specifying unit 120 specifies the specified candidate region as a region including the position of the light source 30 in the imaging region when the maximum luminance value in the specified candidate region exceeds a predetermined threshold.

  In addition, the timing specifying unit 120 may specify the timing at which the color of light from the light source 30 satisfies a predetermined condition based on the image contents of a plurality of captured images continuously captured by the imaging unit 100. . For example, the timing specifying unit 120 sets the timing at which the amount of blue component (B component) light (for example, light in the wavelength range of 435 nm to 480 nm) included in the light emitted from the light source 30 becomes a predetermined threshold. Identify. The light source 30 may include an illumination device that irradiates light to the imaging regions of the plurality of imaging units 100. The light source 30 is, for example, a fluorescent lamp. In addition to the fluorescent lamp, a monitor such as a display, a patrol light, and light emitted from the fluorescent lamp may be reflected by a mirror. Then, the plurality of imaging units 100 specify the timing when the light from the light source 30 satisfies a predetermined condition with the same light source 30 as a reference.

  The imaging timing determination unit 130 determines the imaging timing of the imaging unit 100 based on the timing specified by the timing specification unit 120. The imaging timing determination unit 130 determines the timing specified by the timing specification unit 120 as the imaging timing of the imaging unit 100. For example, when the light source 30 is a fluorescent lamp and the timing specifying unit 120 specifies the timing at which the light quantity of the fluorescent lamp is maximized, the imaging timing determination unit 130 sets a predetermined margin around the timing. The exposure time added before and after the timing is determined.

  Then, the imaging timing determining unit 130 sets the imaging unit 100 from the reference time as a reference time, with the time when the exposure time is determined or after a predetermined time has elapsed from the time when the timing specifying unit 120 specifies the timing. However, the imaging timing for imaging is determined periodically using the determined exposure time. The imaging timing determination unit 130 supplies information indicating the determined imaging timing to the imaging control unit 140.

  The imaging timing determining unit 130 determines the timing specified by the timing specifying unit 120 as the imaging timing of the first imaging unit among the plurality of imaging units 100, and sets a timing different from the timing specified by the timing specifying unit 120. You may determine as an imaging timing of a 2nd imaging part. Specifically, the imaging timing determination unit 130 determines the timing specified by the timing specification unit 120 as the imaging timing of the first imaging unit, and the first imaging unit images at the timing specified by the timing specification unit 120. The timing at which the first imaging unit is not imaging is determined as the imaging timing of the second imaging unit.

  In such a case, the imaging areas of the first imaging unit and the second imaging unit may be substantially the same. The second imaging unit may image at least a part of the imaging region of the first imaging unit. As a result, even if the first imaging unit cannot capture the captured image in the imaging region because the image acquisition unit 110 is acquiring captured image data indicating the captured image captured by the first imaging unit, the second The imaging unit can continue to capture the captured image of the imaging region. Therefore, even when a change occurs in the subject or the like in the imaging region during a period when the first imaging unit is not capturing images, the captured image captured by the second imaging unit includes a captured image indicating the change. The imaging system 15 can accurately record changes in the imaging area.

  The imaging control unit 140 causes the plurality of imaging units 100 to capture captured images at the imaging timing determined by the imaging timing determination unit 130. In addition, the imaging control unit 140 may cause the plurality of imaging units 100 to capture captured images of the same subject from different directions at the imaging timing determined by the imaging timing determination unit 130. In addition, the imaging control unit 140 may control the imaging conditions of the plurality of imaging units 100, such as aperture amount, shutter speed, focal length, depth of field, imaging range, and the like.

  The output unit 150 supplies captured image data indicating the captured image acquired by the image acquisition unit 110 to the server 20. The output unit 150 may transmit the captured image data to the server 20 via a network such as the Internet. Further, the output unit 150 may output and display the captured image data on an external monitor or the like. Further, the output unit 150 may output the captured image data to an image generation apparatus such as an external printer, and print the captured image of the imaging region on a predetermined sheet.

  The data receiving unit 200 receives captured image data of captured images respectively captured by the plurality of imaging devices 10. The data receiving unit 200 stores the received captured image data in the image storage unit 210. The image storage unit 210 associates the imaging device identifiers for identifying the plurality of imaging devices 10 with the imaging times of the captured images respectively captured by the plurality of imaging devices 10, and the captured images captured by the plurality of imaging devices 10. Store each data.

  The stereoscopic image generation unit 220 generates a stereoscopic image of the same subject based on the parallax in the captured image of the same subject captured by each of the plurality of imaging units 100. For example, the stereoscopic image generation unit 220 calculates the positions of a plurality of points constituting the subject from the captured images captured by the two imaging units 100 having different imaging directions for the subject. Then, the stereoscopic image generation unit 220 calculates the positions in the three-dimensional space of a plurality of points constituting the subject using the principle of triangulation. Subsequently, the stereoscopic image generation unit 220 generates a stereoscopic image of the subject from the information indicating the calculated positions of the plurality of points and the captured images captured by the two imaging units 100. As a result, since the subject included in the imaging region, for example, the person 1 can be captured as a three-dimensional object, it is easy to track the position and spatial movement of the person included in the imaging region.

  According to the imaging system 15 according to the present embodiment, each of the plurality of imaging devices 10 uses the light emitted from the light sources 30 included in the imaging regions of the plurality of imaging devices 10 to synchronize the imaging timing of the captured images. Can do. Thereby, the imaging system 15 is configured to synchronize the imaging timing in the plurality of imaging devices 10, and any of the plurality of imaging devices 10, the server 20, or the like sends a synchronization signal to each of the plurality of imaging devices 10. Since transmission is not necessary, it is not necessary to provide a signal line for transmitting and receiving a synchronization signal between the plurality of imaging devices 10. Accordingly, it is possible to reduce the labor for arranging the signal lines and the installation cost of the signal lines, and to increase the degree of freedom in arranging the plurality of imaging devices 10.

  FIG. 3 shows an example of imaging timing in the plurality of imaging devices 10 according to the present embodiment. The plurality of imaging devices 10 (for example, the imaging device 10 </ b> A, the imaging device 10 </ b> B, the imaging device 10 </ b> C, and the imaging device 10 </ b> D) each capture a plurality of captured images in the imaging region including the light source 30. Then, the timing specifying unit 120 included in each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D analyzes a plurality of captured images and calculates a temporal light amount change of the light source 30.

  For example, when the light source 30 is a fluorescent lamp, the timing specifying unit 120 included in each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D has a blinking cycle of the fluorescent lamp and an amount of light emitted from the fluorescent lamp. Calculate the relationship. The timing specifying unit 120 specifies the timing at which the light from the light source 30 satisfies a predetermined condition from the calculated relationship. For example, the timing specifying unit 120 determines the timing at which the fluorescent lamp is turned off, the timing at which the amount of light emitted from the fluorescent lamp is maximized, the period during which the amount of light emitted from the fluorescent lamp exceeds a predetermined threshold, and the blinking of the fluorescent lamp. Specify the period. The timing identification unit 120 supplies information indicating the identified timing to the imaging timing determination unit 130.

  The imaging timing determination unit 130 included in each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D is a timing specifying unit 120 included in each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D. The imaging timings of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D are determined based on the timing specified by. Then, the imaging timing determination unit 130 supplies information indicating the determined imaging timing to the imaging control unit 140. The imaging control unit 140 causes the imaging unit 100 to capture a captured image in the imaging area according to the imaging timing determined by the imaging timing determination unit 130.

  For example, as shown in a graph 500, the imaging timing determination unit 130 included in each of the plurality of imaging devices 10 determines that the light amount of the fluorescent lamp is equal to or greater than a light amount 405 that is a predetermined threshold value. Each is determined as an imaging timing for exposure. In such a case, the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D are each controlled by the imaging control unit 140 included therein, and start imaging at the imaging timing indicated by the exposure period 505 from the reference time 300. To do. That is, each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D captures a captured image in the imaging region by repeating exposure in a period in which the light amount of the fluorescent lamp exceeds the light amount 405 from the reference time 300. Repeat all at once.

  In addition, as illustrated in a graph 500, the imaging timing determination unit 130 included in each of the plurality of imaging devices 10 captures a plurality of imaging during a predetermined period including a time when the light amount of the fluorescent lamp becomes the light amount 400 that is the maximum light amount. You may determine as an imaging timing which each of the apparatus 10 exposes. In such a case, the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D are each controlled by the imaging control unit 140 included therein, and start imaging at the imaging timing indicated by the exposure period 510 from the reference time 300. To do. That is, each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D repeats exposure in a predetermined period in which the light quantity of the fluorescent lamp includes the light quantity 400 from the reference time 300, thereby Repeat the imaging all at once.

  Furthermore, the imaging timing determination unit 130 included in each of the plurality of imaging devices 10 may determine the case where the light amount of the fluorescent lamp is less than the light amount 405 as the imaging timing at which each of the plurality of imaging devices 10 is exposed. In such a case, each of the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D is controlled by the imaging control unit 140 included therein, and starts imaging at the imaging timing indicated by the exposure period 515 from the reference time 300. To do. That is, the imaging device 10A, the imaging device 10B, the imaging device 10C, and the imaging device 10D each have a timing at which the fluorescent lamp is turned off after a predetermined interval from the reference time 300 (for example, time 305, time 310, time 315, and time 320), by repeating the exposure for a predetermined margin before and after the timing when the fluorescent lamp is extinguished, and by repeating the exposure, the imaging of the captured image in the imaging region is repeated all at once.

  FIG. 4 shows an example of imaging timing in the plurality of imaging devices 10 according to the present embodiment. For example, when the light source 30 is a fluorescent lamp, the fluorescent lamp repeatedly blinks at a predetermined cycle. Specifically, as shown in the graph 500 of FIG. 4, the fluorescent lamp is turned off at every time 325, time 330, time 335, and time 340 with reference time 300 as a reference. For example, when the frequency of a household power source used for a fluorescent lamp is 50 Hz, the fluorescent lamp blinks every 1/50 seconds. The light quantity 400 shown in the graph 500 is the maximum value of the light quantity emitted from the fluorescent lamp, and the light quantity 405 is a predetermined threshold light quantity.

  In such a case, the imaging timing determination unit 130 included in each of the plurality of imaging devices 10 may determine the imaging timing of one imaging device 10 and the imaging timing of another imaging device 10 differently. For example, when the imaging device 10A and the imaging device 10C respectively capture substantially the same imaging region, the imaging device 10A and the imaging device 10C capture the imaging region at different imaging timings. That is, the imaging apparatus 10A repeats imaging in the imaging timing indicated in the exposure period 520, that is, in the period in which the light quantity of the fluorescent lamp is 405 or more. On the other hand, the imaging apparatus 10 </ b> C repeats imaging in a predetermined period including an imaging timing indicated by the exposure period 525, that is, a period in which the light amount of the fluorescent lamp is less than the light amount 405.

  The imaging timing determination unit 130 included in each of the plurality of imaging devices 10 stores a predetermined timing shift amount so that the imaging timing to be determined is different in each of the plurality of imaging devices 10. Then, the imaging timing determination unit 130 included in each of the plurality of imaging devices 10 may determine the imaging timing based on, for example, a value obtained by adding or reducing the timing shift amount to the timing determined by the timing determination unit 120.

  As a result, the captured image captured by the imaging device 10C includes the captured image of the imaging region during the period when the imaging device 10A is not capturing the imaging region. However, it is possible to accurately capture all of the captured images including the change.

  FIG. 5 shows an example of the light source 30 according to the present embodiment. The light source 30 may be a fluorescent lamp, for example. Here, the light source 30 itself may be included in the imaging regions of the plurality of imaging devices 10, but the light source 30 may not be included directly in the imaging region. For example, reflected light obtained by reflecting light emitted from the light source 30 by the wall 50 or the like may be used as the light source 30. That is, as shown in FIG. 5, the light source 30 is not included in the imaging regions of the imaging device 10A and the imaging device 10B. However, each of the imaging device 10 </ b> A and the imaging device 10 </ b> B may use light emitted from the light source 30 and reflected by the wall 50 as the light source 30. In addition, it is preferable that 10 A of imaging devices and the imaging device 10B use as light source the light quantity of the B component light which is easy to be scattered by the wall 50 among the light which the light source 30 emits, respectively. Thereby, the imaging system 15 can easily synchronize the imaging timings of the plurality of imaging devices 10.

  FIG. 6 shows an example of a hardware configuration of the imaging system 15 according to the present embodiment. The imaging system 15 according to the present embodiment includes a CPU peripheral unit including a CPU 1505, a RAM 1520, a graphic controller 1575, and a display device 1580 connected to each other by a host controller 1582, and an input / output controller 1584 to the host controller 1582. Input / output unit having communication interface 1530, hard disk drive 1540, and CD-ROM drive 1560 connected, and legacy input / output having ROM 1510, flexible disk drive 1550, and input / output chip 1570 connected to input / output controller 1584 A part.

  The host controller 1582 connects the RAM 1520 to the CPU 1505 and the graphic controller 1575 that access the RAM 1520 at a high transfer rate. The CPU 1505 operates based on programs stored in the ROM 1510 and the RAM 1520 to control each unit. The graphic controller 1575 acquires image data generated by the CPU 1505 or the like on a frame buffer provided in the RAM 1520 and displays the image data on the display device 1580. Alternatively, the graphic controller 1575 may include a frame buffer that stores image data generated by the CPU 1505 or the like.

  The input / output controller 1584 connects the host controller 1582 to the communication interface 1530, the hard disk drive 1540, and the CD-ROM drive 1560, which are relatively high-speed input / output devices. The communication interface 1530 communicates with other devices via a network. The hard disk drive 1540 stores programs and data used by the CPU 1505 in the imaging system 15. The CD-ROM drive 1560 reads a program or data from the CD-ROM 1595 and provides it to the hard disk drive 1540 via the RAM 1520.

  The input / output controller 1584 is connected to the ROM 1510, the flexible disk drive 1550, and the relatively low-speed input / output device of the input / output chip 1570. The ROM 1510 stores a boot program executed when the imaging system 15 is activated, a program depending on the hardware of the imaging system 15, and the like. The flexible disk drive 1550 reads a program or data from the flexible disk 1590 and provides it to the hard disk drive 1540 via the RAM 1520. The input / output chip 1570 connects various input / output devices via a flexible disk drive 1550 such as a parallel port, a serial port, a keyboard port, and a mouse port.

  The imaging program provided to the hard disk drive 1540 via the RAM 1520 is stored in a recording medium such as the flexible disk 1590, the CD-ROM 1595, or an IC card and provided by the user. The imaging program is read from the recording medium, installed in the hard disk drive 1540 in the imaging system 15 via the RAM 1520, and executed by the CPU 1505. The imaging program that is installed and executed in the imaging system 15 works on the CPU 1505 and the like to make the imaging system 15 the imaging unit 100, the image acquisition unit 110, the timing specifying unit 120, and the imaging timing determination described with reference to FIGS. Unit 130, imaging control unit 140, output unit 150, data receiving unit 200, image storage unit 210, and stereoscopic image generation unit 220.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

1 is a conceptual diagram of an imaging system 15. FIG. 2 is a block diagram illustrating a functional configuration of the imaging system 15. FIG. It is a figure which shows an imaging timing. It is a figure which shows an imaging timing. It is a figure which shows the light source. 2 is a block diagram illustrating a hardware configuration of an imaging system 15. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Person 10 Imaging device 15 Imaging system 20 Server 30 Light source 50 Wall 100 Imaging part 110 Image acquisition part 120 Timing specification part 130 Imaging timing determination part 140 Imaging control part 150 Output part 200 Data receiving part 210 Image storage part 220 Three-dimensional image generation part 300 Reference time 305, 310, 315, 320 Time 325, 330, 335, 340 Time 400, 405 Light quantity 500 Graph 505, 510, 515, 520, 525 Exposure period 1505 CPU
1510 ROM
1520 RAM
1530 Communication interface 1540 Hard disk drive 1550 Flexible disk drive 1560 CD-ROM drive 1570 Input / output chip 1575 Graphic controller 1580 Display device 1582 Host controller 1584 Input / output controller 1590 Flexible disk 1595 CD-ROM

Claims (12)

A plurality of imaging units that capture images including a light source;
A timing specifying unit for specifying a timing at which light from the light source satisfies a predetermined condition based on image contents of a plurality of images continuously captured by each of the plurality of imaging units;
An imaging timing determination unit that determines the imaging timing of each of the plurality of imaging units with reference to the timing specified by the timing identification unit;
An imaging system comprising: an imaging control unit that causes the plurality of imaging units to capture images at an imaging timing determined by the imaging timing determination unit. The timing specifying unit specifies a timing at which a light amount of light from the light source satisfies a predetermined condition based on image contents of a plurality of images continuously captured by the plurality of imaging units,
The imaging system according to claim 1, wherein the imaging timing determination unit determines the imaging timing of each of the plurality of imaging units on the basis of the timing specified by the timing specifying unit. The timing specifying unit specifies the timing at which the amount of light from the light source becomes a predetermined threshold based on the image contents of a plurality of images continuously captured by each of the plurality of imaging units,
The imaging system according to claim 2, wherein the imaging timing determination unit determines the imaging timing of each of the plurality of imaging units on the basis of the timing specified by the timing specifying unit. The timing specifying unit specifies a timing at which a color of light from the light source satisfies a predetermined condition based on image contents of a plurality of images continuously captured by the plurality of imaging units,
The imaging system according to claim 1, wherein the imaging timing determination unit determines the imaging timing of each of the plurality of imaging units on the basis of the timing specified by the timing specifying unit. The imaging timing determining unit determines the timing specified by the timing specifying unit as the imaging timing of each of the plurality of imaging units,
The imaging system according to claim 1, wherein the imaging control unit causes the plurality of imaging units to perform imaging at an imaging timing determined by the imaging timing determination unit. The imaging control unit causes the plurality of imaging units to capture images of the same subject from different directions at the imaging timing determined by the imaging timing determination unit,
The imaging system includes:
The imaging system according to claim 5, further comprising a stereoscopic image generation unit that generates a stereoscopic image of the same subject based on parallax in the image of the same subject captured by each of the plurality of imaging units. The imaging timing determining unit determines a timing specified by the timing specifying unit as an imaging timing of a first imaging unit among the plurality of imaging units, and performs a second imaging at a timing different from the timing specified by the timing specifying unit. The imaging system according to claim 1, wherein the imaging system is determined as an imaging timing of a part. The imaging timing determining unit determines the timing specified by the timing specifying unit as the imaging timing of the first imaging unit, and the first imaging unit captures images at the timing specified by the timing specifying unit. The imaging system according to claim 7, wherein a timing at which the imaging unit is not imaging is determined as an imaging timing of the second imaging unit. The imaging system according to claim 8, wherein the second imaging unit images at least a part of an imaging region of the first imaging unit. The imaging system according to claim 1, wherein the light source includes an illumination device that irradiates light to imaging regions of the plurality of imaging units. An imaging method,
An imaging stage in which a plurality of imaging units capture an image including a light source;
A timing identifying step for identifying a timing at which light from the light source satisfies a predetermined condition based on image contents of a plurality of images continuously captured by each of the plurality of imaging units;
An imaging timing determination stage that determines the imaging timing of each of the plurality of imaging units based on the timing specified in the timing identification stage;
An imaging method comprising: an imaging control step of causing the plurality of imaging units to capture images at the imaging timing determined in the imaging timing determination step. An imaging program for an imaging system, wherein the imaging system is
A plurality of imaging units that capture images including a light source;
A timing identifying unit that identifies timing at which light from the light source satisfies a predetermined condition based on image contents of a plurality of images continuously captured by each of the plurality of imaging units;
An imaging timing determination unit that determines the imaging timing of each of the plurality of imaging units based on the timing specified by the timing specifying unit,
An imaging program for causing the plurality of imaging units to capture an image at an imaging timing determined by the imaging timing determination unit.

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